TY - GEN
T1 - AROC
T2 - 24th ACM International Conference on Hybrid Systems Computation and Control, HSCC 2021, held as part of the 14th Cyber Physical Systems and Internet-of-Things Week, CPS-IoT Week 2021
AU - Kochdumper, Niklas
AU - Gruber, Felix
AU - Schürmann, Bastian
AU - Gaßmann, Victor
AU - Klischat, Moritz
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2021 ACM.
PY - 2021/5/19
Y1 - 2021/5/19
N2 - We present a MATLAB toolbox for Automated Reachset Optimal Control (AROC) that automatically synthesizes verified controllers for solving reach-avoid problems using reachability analysis. The toolbox implements two different types of control approaches: When using our verified model predictive controller, a feasible control law is constructed and verified on-the-fly during online application of the system. For motion-primitive-based control, on the other hand, controllers for many motion primitives are synthesized offline and then used for online motion planning with a maneuver automaton. Since our toolbox considers general nonlinear systems with input constraints, state constraints, and bounded disturbances, it is applicable to a very broad class of systems, as we demonstrate with several numerical examples. AROC is available at https://aroc.in.tum.de.
AB - We present a MATLAB toolbox for Automated Reachset Optimal Control (AROC) that automatically synthesizes verified controllers for solving reach-avoid problems using reachability analysis. The toolbox implements two different types of control approaches: When using our verified model predictive controller, a feasible control law is constructed and verified on-the-fly during online application of the system. For motion-primitive-based control, on the other hand, controllers for many motion primitives are synthesized offline and then used for online motion planning with a maneuver automaton. Since our toolbox considers general nonlinear systems with input constraints, state constraints, and bounded disturbances, it is applicable to a very broad class of systems, as we demonstrate with several numerical examples. AROC is available at https://aroc.in.tum.de.
KW - controller synthesis
KW - maneuver automata
KW - model predictive control
KW - reach-avoid problems
KW - reachability analysis
UR - http://www.scopus.com/inward/record.url?scp=85105877336&partnerID=8YFLogxK
U2 - 10.1145/3447928.3456703
DO - 10.1145/3447928.3456703
M3 - Conference contribution
AN - SCOPUS:85105877336
T3 - HSCC 2021 - Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control (part of CPS-IoT Week)
BT - HSCC 2021 - Proceedings of the 24th International Conference on Hybrid Systems
PB - Association for Computing Machinery, Inc
Y2 - 19 May 2021 through 21 May 2021
ER -